function Drawamap(start_x,start_y,end_x,end_y,map)
    n=20;
    map(end+1,end+1) = 0;
    figure(1);
    colormap(bone)
    pcolor(map); % 赋予栅格颜色
    set(gca,'XTick',10:10:n,'YTick',10:10:n); % 设置坐标
    axis image xy
    % displayNum(n);%显示栅格中的数值.
    text(start_y,start_x+1.5,'START','Color','red','FontSize',10);%显示start字符
    text(end_y+1,end_x+0.5,'GOAL','Color','red','FontSize',10);%显示goal字符
    hold on
    %pin strat goal positon
    scatter(start_y+0.5,start_x+0.5,'MarkerEdgeColor',[1 0 0],'MarkerFaceColor',[1 0 0], 'LineWidth',1);%start point
    scatter(end_y+0.5,end_x+0.5,'MarkerEdgeColor',[0 1 0],'MarkerFaceColor',[0 1 0], 'LineWidth',1);%goal point
    hold on
    return
end